Diff: towelest.cpp

Revision:

1:c6950f45b03c

Parent:

0:0797b0e47e6d

Child:

2:623fb33351af

--- a/towelest.cpp	Thu Aug 29 05:14:22 2019 +0000
+++ b/towelest.cpp	Wed Sep 04 05:14:18 2019 +0000
@@ -1,16 +1,15 @@
 #include "towelest.h"
 
-towelest::towelest(Serial* RS485):
+towelest::towelest():
+serial(mdTX,mdRX,115200),
 enc1(PA_6,PA_7,NC,100, QEI::X4_ENCODING),
 pid(4.0, 0, 0.001, 0.01),
 LimitSW1(PB_5),
-LimitSW2(PB_4),
-pc(USBTX,USBRX,115200)
+LimitSW2(PB_4)
 {
-    Motor = new ikarashiMDC*[3];
-    Motor[0] = new ikarashiMDC(2,0,SM,RS485);
-    Motor[1] = new ikarashiMDC(2,1,SM,RS485);
-    Motor[2] = new ikarashiMDC(2,2,SM,RS485);
+    Motor[0] = new ikarashiMDC(2,0,SM,&serial);
+    Motor[1] = new ikarashiMDC(2,1,SM,&serial);
+    Motor[2] = new ikarashiMDC(2,2,SM,&serial);
 
     Motor[0]->braking = true;
     Motor[1]->braking = true;
@@ -28,10 +27,10 @@
 
 void towelest::open()
 {
-    if(LimitSW1.read() == 1) {
+    if(LimitSW1.read() == 1){
         Motor[0]->setSpeed(0);
         Motor[1]->setSpeed(0);
-    } else if(LimitSW1.read() == 0) {
+    }else if(LimitSW1.read() == 0){
         Motor[0]->setSpeed(-0.2);
         Motor[1]->setSpeed(0);
     }
@@ -52,7 +51,7 @@
 {
     timer.start();
     time = timer.read();
-    if(time <= 3) {
+    if(time <= 5) {
         pid.setSetPoint(-800);
     } else {
         pid.setSetPoint(0);
@@ -63,15 +62,14 @@
 
 void towelest::loop()
 {
-    while(true) {
+    while(true){
         RotationDistance = (float)enc1.getPulses();
         pid.setProcessValue(RotationDistance);
         compute = pid.compute();
         Motor[2]->setSpeed(compute);
         Limit1 = LimitSW1.read();
         Limit2 = LimitSW2.read();
-        pc.printf("%d  %d  %f \n\r",Limit1,Limit2,RotationDistance);
-        
+        //pc.printf("%d  %d  %f \n\r",Limit1,Limit2,RotationDistance);
     }
 }